Additive manufacturing using polymer materials

ABSTRACT

An additive manufacturing system is disclosed. The system comprises at least one feeder configured to feed, continuously, at least two solid polymer strands, at least one heating element, configured to simultaneously heat at least a part of adjacent surfaces of the at least two solid polymer strands, an attachment unit configured to simultaneously attach the liquified surfaces to yield attached strands; and a pressing unit configured to press the at least two solid polymer strands against each other to ensure attachment.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of U.S. patentapplication Ser. No. 15/939,325 filed Mar. 29, 2018, which is acontinuation-in-part of PCT Patent Application No. PCT/IL2016/050683filed on Jun. 27, 2016, which claims the benefit of U.S. ProvisionalPatent Application No. 62/239,291 filed on Oct. 9, 2015. U.S. patentapplication Ser. No. 15/939,325 also claims the benefit of U.S.Provisional Patent Application No. 62/481,707 filed on Apr. 5, 2017. Thecontents of the above applications are all incorporated herein byreference in their entirety.

BACKGROUND OF THE INVENTION 1. Technical Field

The present invention relates to the field of additive manufacturing,and more particularly, to additive manufacturing using polymermaterials.

2. Discussion of Related Art

Historically, prototype development and customized manufacturing hasbeen performed by traditional methods using metal extrusion,computer-controlled machining and manual modeling techniques, in whichblocks of material are carved or milled into specific objects. Thesesubtractive manufacturing methodologies have numerous limitations. Theyoften require specialist technicians and can be time- and laborintensive. The time intensity of traditional modeling can leave littleroom for design errors or subsequent redesign without meaningfullyaffecting a product's time-to-market and development cost. As a result,prototypes have been created only at selected milestones late in thedesign process, which prevents designers from truly visualizing andverifying the design of an object in the preliminary design stage. Theinability to iterate a design rapidly hinders collaboration among designteam members and other stakeholders and reduces the ability to optimizea design, as time-to-market and optimization become necessary trade-offsin the design process.

Additive manufacturing (“AM”) addresses the inherent limitations oftraditional modeling technologies through its combination offunctionality, quality, and ease of use, speed and cost. AM issignificantly more efficient and cost effective than traditionalmodel-making techniques for use across the design process, from conceptmodeling and design review and validation, to fit and functionprototyping, pattern making and tooling, to direct manufacturing ofrepeatable, cost-effective parts, short-run parts and customized endproducts.

Introducing 3D modeling earlier in the design process to evaluate fit,form and function can result in faster time-to-market and lower productdevelopment costs. For customized manufacturing, 3D printers eliminatethe need for complex manufacturing set-ups and reduce the cost andlead-time associated with conventional tooling. The first commercial 3Dprinters were introduced in the early 1990s, and since the early 2000s,3D printing technology has evolved significantly in terms of price,variety and quality of materials, accuracy, ability to create complexobjects, ease of use and suitability for office environments. 3Dprinting is already replacing traditional prototype developmentmethodologies across various industries such as architecture,automotive, aerospace and defense, electronics, medical, footwear, toys,educational institutions, government and entertainment, underscoring itspotential suitability for an even broader range of industries.

3D printing has created new applications for model-making in certain newmarket categories, such as: education, where institutions areincreasingly incorporating 3D printing into their engineering and designcourse programs; dental and orthodontic applications, where 3D printedmodels are being used as replacements for traditional stone models,implants and surgical guides and for crowns and bridges for casting;Furthermore, 3D printing is being used in many industries for the directdigital manufacturing of end-use parts.

Carneiro et al. 2015, Fused deposition modeling with polypropylene,Materials & Design 83: 768-776 discuss the suitability of polypropylene(PP) for used in fused deposition modeling (FDM)-based 3D printing.

SUMMARY OF THE INVENTION

The following is a simplified summary providing an initial understandingof the invention. The summary does not necessarily identify key elementsnor limit the scope of the invention, but merely serves as anintroduction to the following description.

One aspect of the present invention provides a method of additivemanufacturing, the method comprising: receiving, continuously, solidpolymer material in form of at least one strand or a plurality ofparticles, heating a surface of the continuously received solid polymermaterial peripherally to liquefy the surface, using specifiedheating-related parameters which are selected to maintain a centralvolume of the continuously received solid polymer material in a solidstate, liquefying a surface of a polymer substrate, and attaching theperipherally heated surface of the continuously received solid polymermaterial to the liquefied surface of the polymer substrate, wherein theattachment to the polymer substrate is achieved by a re-solidificationof the liquefied surface to yield monolithic attachment.

These, additional, and/or other aspects and/or advantages of the presentinvention are set forth in the detailed description which follows;possibly inferable from the detailed description; and/or learnable bypractice of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of embodiments of the invention and to showhow the same may be carried into effect, reference will now be made,purely by way of example, to the accompanying drawings in which likenumerals designate corresponding elements or sections throughout.

In the accompanying drawings:

FIG. 1A is a high level schematic block diagram of an additivemanufacturing system, according to some embodiments of the invention.

FIG. 1B is a high level schematic illustration of a flow in the additivemanufacturing system and their modification possibilities, according tosome embodiments of the invention.

FIG. 2 is a high level schematic illustration of the system, additivelymanufacturing a cylindrical part, according to some embodiments of theinvention.

FIGS. 3A and 3B are high level schematic illustrations of tips andpositioning unit of system, according to some embodiments of theinvention.

FIGS. 4A and 4B are high level schematic illustrations of tips of thesystem, according to some embodiments of the invention.

FIG. 5 is a high level schematic illustration of an exemplary strandproduction module and tip, according to some embodiments of theinvention.

FIGS. 6A-6F are high level schematic illustrations of the system usingstrands as added material, according to some embodiments of theinvention.

FIGS. 7A-7F are high level schematic configurations of attached strandsat various spatial configurations, according to some embodiments of theinvention.

FIGS. 8A-11 are high level schematic illustrations of various types ofstrands and their attachment, according to some embodiments of theinvention.

FIG. 12 is a high level flowchart illustrating a method of additivemanufacturing, according to some embodiments of the invention.

FIG. 13A is a high level schematic illustration of an additivemanufacturing system comprising a printing head and a routing head,according to some embodiments of the invention.

FIG. 13B is a high level schematic illustration of a printing head of anadditive manufacturing system, according to some embodiments of theinvention.

FIG. 13C is a high level schematic illustration of a routing head of anadditive manufacturing system, according to some embodiments of theinvention.

FIG. 13D is a high level schematic illustration of a hybrid head of anadditive manufacturing system, according to some embodiments of theinvention.

DETAILED DESCRIPTION OF THE INVENTION

Prior to the detailed description being set forth, it may be helpful toset forth definitions of certain terms that will be used hereinafter.

The term “monolithic attachment” as used in this application refers tothe connection of polymer parts at a level defined by given productrequirement. The level of monolithic attachment may be selectedaccording to the application. In certain embodiments, the level ofmonolithic attachment may be such that any two layers, strands and/orparticles are separable only upon applying a certain percentage (e.g.,70%, 80%, 90% or 100%, depending on the case) of the force required totear an equivalent uniform part. In certain embodiments, the monolithicattachment may comprise connecting the layers, strands and/or particlesto each other in a uniform way that does not leave traces of theconnection interface that are mechanically weaker than the surroundingmaterial (roughly equivalent to 100% force mentioned above).

In the following description, various aspects of the present inventionare described. For purposes of explanation, specific configurations anddetails are set forth in order to provide a thorough understanding ofthe present invention. However, it will also be apparent to one skilledin the art that the present invention may be practiced without thespecific details presented herein. Furthermore, well known features mayhave been omitted or simplified in order not to obscure the presentinvention. With specific reference to the drawings, it is stressed thatthe particulars shown are by way of example and for purposes ofillustrative discussion of the present invention only, and are presentedin the cause of providing what is believed to be the most useful andreadily understood description of the principles and conceptual aspectsof the invention. In this regard, no attempt is made to show structuraldetails of the invention in more detail than is necessary for afundamental understanding of the invention, the description taken withthe drawings making apparent to those skilled in the art how the severalforms of the invention may be embodied in practice.

Before at least one embodiment of the invention is explained in detail,it is to be understood that the invention is not limited in itsapplication to the details of construction and the arrangement of thecomponents set forth in the following description or illustrated in thedrawings. The invention is applicable to other embodiments that may bepracticed or carried out in various ways as well as to combinations ofthe disclosed embodiments. Also, it is to be understood that thephraseology and terminology employed herein is for the purpose ofdescription and should not be regarded as limiting.

Unless specifically stated otherwise, as apparent from the followingdiscussions, it is appreciated that throughout the specificationdiscussions utilizing terms such as “processing”, “computing”,“calculating”, “determining”, “enhancing” or the like, refer to theaction and/or processes of a computer or computing system, or similarelectronic computing device, that manipulates and/or transforms datarepresented as physical, such as electronic, quantities within thecomputing system's registers and/or memories into other data similarlyrepresented as physical quantities within the computing system'smemories, registers or other such information storage, transmission ordisplay devices. Any of the disclosed modules or units may be at leastpartially implemented by a computer processor.

The present invention relates to additive manufacturing by robotic 3Dreal production systems for direct manufacturing of real objects thatare subsequently used as products. The manufacturing processes arestreamlined to enable production of objects that meet requiredindustrial standards to replace intensive labor and significantinvestments of production tooling. The present invention enables realproduction of objects that are generally hard to manufacture orexpensive using conventional subtractive manufacturing methodologies.Clearly, the present invention also enables industrial production ofsmall parts as well as production of prototypes and production of simpleand cheap parts.

Systems and methods of additive manufacturing are provided, in whichsolid polymer material in form of strand(s) or particles is continuouslyreceived, and its surface is heated peripherally to liquefy the surface,using specified heating-related parameters which are selected tomaintain a central volume of the continuously received solid polymermaterial in a solid state. The surface of a polymer substrate is alsoliquefied, and the peripherally heated surface of the continuouslyreceived solid polymer material is attached to the liquefied surface ofthe polymer substrate, followed by re-solidification of the liquefiedsurface to yield monolithic attachment of the material to the substrate.Liquefying only the surface of the material maintains some of itsstrength, as well as its flexibility and material properties, andprevents deformation and other changes upon solidification. Themonolithic attachment provides uniform and controllable industrialproducts, which cannot currently be produced by polymer additivemanufacturing.

FIG. 1A is a high level schematic block diagram of an additivemanufacturing system 100, according to some embodiments of theinvention. Units in system 100 are illustrated schematically and may beimplemented in various ways, some of which illustrated in the followingfigures. Units may be associated with processor(s) 99 for carrying outdata processing related functions.

Additive manufacturing system 100 comprises one or more feeder(s)configured to feed, continuously, solid polymer material 91 in form ofat least one strand 90 and/or a plurality of particles 95 and one ormore tip(s) 110 configured to receive, continuously, solid polymermaterial 91 from feeder(s) 150. In the following, system 100 issometimes described as having one tip 110 and one feeder 150 forsimplicity, without limiting the scope of the disclosure thereto. Tip110 may be understood as handling a single fed material strand or ashandling multiple material strands, as described below.

System 100 further comprises at least one heating element 120 configuredto heat tip 110 to a specified temperature. At least one heating element120 is further configured to liquefy by heating at least part of asurface 123 of a polymer substrate 80 (leaving a bulk 124 of substrate80 solid) and/or to liquefy by heating at least part of a surface 121 offed material 91 as the polymer substrate, leaving a core 122 of material91 solid. The actual depth of the part(s) of surfaces 121, 123 which areliquefied may vary depending on various parameters such as form and typeof fed material 91 and substrate 80 (respectively), heating-relatedparameters as presented below etc. The depth of the liquefied surfacesmay be selected to maintain large enough material core 122 and substratebulk 124 solid to provide required mechanical and shape properties ofthe produced part, while optimizing the solidification process andresulting part properties. For example, deeper liquefied surfacesrequire more intense heating yet provide more solidification time thanshallower liquefied surfaces. The surface depths may be monitored andadjusted as part of the realtime process control described below.

In certain embodiments, up to 50% of the cross sectional area ofmaterial 91 may be liquefied, leaving at least 50% of the crosssectional area of material 91 solid. Liquefied surface parts 121 may becircumferential or may extend only to one or more sides of the crosssectional area of material 91. For example, only one, two or three sidesof a square cross section may be liquefied.

Tip 110 and substrate surface 123 may be heated by the same or bydifferent heating elements 120. Tip 110 is further configured to heat asurface 121 of continuously received solid polymer material 91peripherally to liquefy surface 121, using specified heating-relatedparameters which are selected to maintain a central volume 122 ofcontinuously received solid polymer material 91 in a solid state.

Advantageously with respect to prior art such as Carneiro et al. 2015,(in which PP strands are molten prior to deposition), heating only theperiphery of the polymer substrate and of the polymer material, possiblyto a shallow depth and for a short time, prevents shrinkage uponre-solidification 125 (denoted in FIG. 1A by thick arrows) and ensuresgood shape control of the resulting manufactured parts.

Moreover, disclosed systems 100 and methods 300 provide additivemanufacturing which is applicable to industrial processes and enableadditive manufacturing of actual industrial parts, rather than merely ofmodels as in the prior art. In particular, quality control is integratedin the manufacturing process, which provides uniform and closelymonitored parts. Disclosed systems 100 and methods 300 are configured asrobust additive manufacturing system and methods which enable handlingreceived materials in the order of magnitude of several kilograms orseveral tens of kilograms per hour. Clearly, multiple systems 100 mayhandle larger amounts, and smaller system configurations may handlesmaller amounts and finer details (e.g., ranging down to grams).

Liquefying only the periphery of received material 91 maintains thematerial strength during manufacturing, enabling production ofoverhanging structures (see e.g., FIGS. 7A, 7C, 7E, 7F below) withoutthe need for additional supports and enables guiding or flexing receivedmaterial 91 during production to achieve required shapes andsurface/bulk features. The strength of the material core which ismaintained solid enables production of overhanging structures withoutthe need for additional supports, which is unheard of in the currentstate of the art. The monolithic attachment of received material 91 tosubstrate 80 maintains uniform mechanical characteristics throughout themanufactured parts.

The specified heating-related parameters may comprise, as examples, aselection of the heat source (e.g., a contact heater, a hot air or otherconvective heater, a radiative heater such as a halogen or infraredheater, and inductive heater, a laser heater etc.), a heatingtemperature, a heating duration as well as feeding parameters such as afeeding velocity (or a feeding force) of solid material 91, whichdetermine the heating duration of fed material 91.

Additive manufacturing system 100 is further configured to attachperipherally heated surface 121 of continuously received solid polymermaterial 91 to liquefied surface 123/121 of polymer substrate 80/91(respectively), wherein the attachment to the substrate is achieved by are-solidification 125A/125B (respectively) of the liquefied surface toyield monolithic attachment. As illustrated in FIG. 1A, any of thefollowing options may be manufactured by system 100: two or more strands90 may be attached to each other (one or more strand(s) being therespective substrate), particles 95 may be attached to each other (oneor more particle(s) being the respective substrate) and/or at least onestrand or particles as material 91 may be attached to substrate 80,which may comprise a structure that was previously produced by additivemanufacturing system 100, e.g., one operating layer by layer. Material91 may be fed as bulk material, pellets, bids, rods, wires etc., maypossibly comprise more than one material to provide composites, and maybe possibly pre-processed. In any of these cases, the same operationprinciple is used, namely liquefying only the surfaces of the attachedelements to provide monolithic attachment without form change uponre-solidification. This operation principle enables production of partshaving controlled and uniform characteristics.

Tip 110 may be further configured to receive, continuously, a pluralityof solid material strands 90, which are attached to each other byre-solidification 125A of their liquefied surfaces 121, according to aspatial feeding configuration (e.g., a linear arrangement of strands 90next to each other, or other configurations, see FIGS. 7A-7F for variousnon-limiting examples). Attachment may be assisted by tip 110 beingfurther configured to press strands 90 against each other to enhancetheir attachment and/or by feeder 150 being further configured to feedstrands 90 at specified angles with respect to each other that enhancetheir attachment.

Tip(s) 110 may have a wide range of designs, corresponding to fedmaterial 91, heating requirements and product design. For example,tip(s) 110 may comprise one or more openings, possibly with differentshapes and sizes, and each process or process step may be used one, someor all of the openings. On or more opening in tip 110 may have anadjustable cross section. Tip(s) 110 may comprise additional elementssuch as co-dispensers of molten or semi-molten material and/or vibrationunits (internal or external, possibly using ultrasound). Tip(s) 110 maycomprise guiding elements to guide material movement through tip(s) 110,wipers blending and smoothing material 91 and/or attached material 91 aswell as possibly pre-heating and post-cooling elements (e.g., laserheating element).

Feeder(s) 150 may be further configured to control feeding parameters ofeach strand 90 fed to tip 110. Feeding parameters may be used to controlthe form of the produced part, e.g., gradually increasing feeding speedin one direction of linearly fed strands may be configured to yield abend of the produced part to the opposite direction —bending toward theslowly fed strands. For example, e.g., strands which are fed at higherspeed curve inwards, toward strands which are fed at lower speed.

Strands 90 may have any form of cross section (e.g., rectangular, round,triangular, hexagonal etc., see FIGS. 3B, 4B, 5, 7A, 8A, 9A, 10A, and 11for non-limiting examples) and may be full or hollow (in case of hollowstrands an inner periphery of the hollow in the strand is left solidduring attachment). Strand cross section may be modified by theattaching process by the surface liquefaction and possible due toapplied pressure. Attached strands 90 may differ, e.g., one or more ofstrands 90 may be made of different solid materials, one or more strands90 may be reinforced (e.g., by carbon fibers) and/or one or more ofstrands 90 may have additive(s) (e.g., fillers, colorants etc.). Usingstrands 90 of various types enables manufacturing complex parts, havingspecifically designed features. For example, system 100 may be used tomanufacture parts such as containers having walls made of the strands(see FIG. 2 for a non-limiting example). The walls may have an externalcolored surface manufactured using external colored strands,intermediate light weight bulk manufactured using middle hollow,possible reinforced strands and inner passivated surface manufacturedusing inner strands with corresponding additives that suppress chemicalreactivity.

System 100 may further comprise a strand production module 160configured to produce strands 90, continuously and simultaneously(on-line) with the feeding of strands 90 to tip 110. Strands 90 may beproduced from melting particles (e.g., by extrusion) just prior to theiruse in tip 110, after undergoing shape regulation in strand productionmodule 160. For example, strand production module 160 may be configuredto adjust a cross section of the produced strands according to specifiedattachment and structural requirements. Alternatively orcomplementarily, strands 90 may be fed by feeder 150 to tip 110 fromrolls of strand produced off-line with respect to the operation ofsystem 100.

System 100 further comprises a positioning unit 130 configured toposition tip(s) 110 with respect to substrate 80 according to aspecified product design. Positioning unit 130 may follow detailedadditive manufacturing process parameters to produce products or partsafter specifications (which may be adapted to the unique manufacturingcharacteristics of system 100). Positioning unit 130 may comprise one ormore robotic units configured to position and maneuver tip(s) 110according to the designed manufacturing process. Positioning unit 130may comprise any of gantry(ies), bridge(s), robot(s), linear and rotaryaxes, rails, pulley(ies) etc. Positioning unit 130 may be configured tooperate multiple tip(s) 110, possibly manufacturing multiple parts,simultaneously.

Positioning unit 130 may be further configured to position tip 110 topress peripherally heated surface 121 of continuously received solidmaterial 91 against substrate 80. Tip 110 may be configured tocontinuously receive and attach to each other multiple solid materialstrands 90, and position unit 130 may be configured to positon tip 110to simultaneously attach strands 90 to substrate 80 (see FIGS. 6A-6F fornon-limiting examples).

System 100 further comprises a control module 140 configured to controlany of feeder(s) 150, heating element(s) 120 and positioning unit 130and to monitor the attachment in closed loop to control a quality of themanufactured product. For example, the closed loop control may beimplemented by control module 140 being configured to modify the feedingparameters and/or the specified heating parameters to determine a depthof surface liquefaction 121 with respect to a geometry of substrate 80,while maintaining central volume 122 in a solid state. Control module140 may be configured to modify the specified heating and/or feedingparameters on-the-fly according to the monitored attachment andcontrolled quality. It is emphasized that control module 140 providescontinuous control of the manufacturing process (not merely alayer-by-layer control as in other additive manufacturing processes) andcontinuously ensures the quality of the produced part.

Control module 140 may comprise multiple sensors 142 of various types(e.g., laser scanners, cameras, IR sensors, inductive and capacitancesensors, acoustic sensors, temperature sensors) configured to monitorthe production process, e.g., measure positions of system elements,measure temperatures such as actual material and nozzle temperatureprofile and compare to planned and or past data, surface temperatures,measure material properties (e.g., volume, material mixtures andproperties of material components) and their variation. Control module140 is further configured to correct any of the measured features bymodifying heating and feeding parameters, positioning unit movementsetc. For example, correction criteria may be set, such as volumetric anddimensional constraints and tolerances for part parameters such as size,surface features, flatness and perpendicularity, critical features(e.g., a hole, a flange, connectors etc.), material strength, standards,textures etc. Process corrections by control module 140 may be carriedout on the fly (real time) and/or at spatio-temporal intervals or afterproduction. Corrections may be implemented by using the measuredvariation to (i) adjust the planned dimension to actual manufacturedfeatures (adaptive manufacturing, e.g., changing manufacturingparameters according to certain shifts in the substrate), (ii) creategradual corrections to gradually restore the dimensions to the originaldesign, (iii) suggest or prompt design modification, (iv) add supportsthat correspond to monitored variation and/or (v) change material flowcharacteristic (e.g., size of orifice in tip 110, temperature, geometryof molten mass, process speed, etc.). Additionally or alternatively,control module 140 may be configured to use other devices or externalelements 144 for carrying out the corrections such as secondend-effectors or elements—for example, heat/cooling sources, wipers,hammer-like units, spindles and/or final machining or other externalrobots or machines.

Solid polymer material 91 and/or polymer substrate 80 may comprisepolypropylene (PP) or polyethylene (PE) which have large thermalexpansion coefficients (in the order of magnitude of 10⁻⁴ m/(m K) andhigher). System 100 and method 300 disclosed below enable additivemanufacturing at industrial scale using PP or PE which is not possiblewith prior art technology, as the latter liquefies all the material,which then undergoes shape and dimensional changes uponre-solidification that contort the manufactured product and result inuneven mechanical properties of the product. In contrast, the disclosedsystems and methods maintain the form and the mechanical properties ofsolid central volume 122 of the polymer material and provide uniformre-solidification and uniform mechanical attachment of material 91 tosubstrate 80 resulting in shape and mechanical properties of themanufactured products which can be designed to yield industrially viableparts. Moreover, the closed loop process controls provides on-lineverification of the quality of manufacturing, ensuring uniform partbatches according to design and having uniform mechanical properties.Clearly, polymer materials with smaller thermal expansion coefficients(e.g., in the order of magnitude of 10⁻⁵ m/(m K) and lower, e.g.,ABS-acrylonitrile butadiene styrene, PC-polycarbonate etc.) may also beused.

System 100 may further comprise a design module 102 configured toproduce a proper process design of given parts using system 100. Forexample, material 91 may be optimized for certain requirements, addedlayers may be design according to product requirements, positioning unitmovements may be minimized, material cuttings reduced and specialfeatures may be adapted for the additive manufacturing (e.g., sharpcorners). Design module 102 may receive modifications from controlmodule 140 during and after manufacturing to improve the process designand the manufacturing process.

FIG. 1B is a high level schematic illustration of a flow in additivemanufacturing system 100 and their modification possibilities, accordingto some embodiments of the invention. FIG. 1B illustrates schematicallythe flow, starting from raw material such as polymer particles 95 whichmay comprise PP or any other thermoplastic polymer possibly with variousadditives (e.g., UV protective materials, fillers) and variousreinforcement components (e.g., carbon fibers, glass fibers etc.), whichis drawn to strands 90 by an extruder 161 as a non-limiting example,either on-line or off-line with respect to the operation of system 100.Strands 90 may have any cross section (round, square, triangular), anydimension or form, and may be co-extruded from more than one extruderand comprise multiple materials. Extruder(s) 161 may be controlled 141by control unit 140 to provide strands that correspond to productrequirements and to provide online closed loop manufacturing control andquality assurance (QA).

Positioning unit 130 may comprise any system such as robotic units,arms, gantries, bridges or even remotely controlled rotorcraft(s), andmay also be controlled 141 by control unit 140 to control the positionsand movements of components of system 100 (at all directions) andparticularly of tip(s) 110 according to product requirements and toprovide online closed loop QA.

Feeder(s) 150 may comprise a strand timing module 151 which feedsstrands 90 to tip 110, possibly at different speeds relating to thegeometric configurations of part production, heating parameters, strandmaterials and possibly synchronized with extruder(s) 161. Feeder(s) 150and/or strand timing module 151 may be controlled 141 by control unit140 to control the feeding parameters of each strand (together orseparately) according to product requirements and to provide onlineclosed loop QA. Strand timing module 151 enables exact control on strandfeeding speed and provides full control on the geometry of themanufactured product, e.g., by providing feeding speeds that correspondto specific product radii and surface features, by providingcorresponding strands to specific product parts and modifying thecomposition of strands during manufacturing and so forth.

Tip(s) 110 may comprise any multi-channel unit for handling multiplestrands and for heating and attaching the strands to providemanufactured stripes (see FIGS. 3B, 6A-6F, 7A, 7D-11) to be added tosubstrate 80. Tip(s) 110 may have various cross sections, constant orvariable, and may enable control of the feeding angles of the strands.Heating element(s) 120 may utilize various heating technologies aslisted above (contact, convection, radiation, induction, laser etc.) toheat tip(s) 110 and substrate 80, in either same or different means andaccording to corresponding requirements. The heating levels as part ofthe heating parameters may be adjusted according to productspecifications, geometry and strand materials, and may be controlled 141by control unit 140 to according to product requirements and to provideonline closed loop quality assurance (QA).

System 100 may comprise an attachment unit 135 configured to attachmaterial 91 with liquefied surface to substrate 80, e.g., attach astripe 180 (see e.g., FIGS. 3B and 6F) to substrate 80 controllably,e.g., using a roller. System 100 may further comprise a cutting unit 170configured to cut edges of stripes 180 to provide finish requirements ofthe produced parts (e.g., using a laser cutter). Once additivemanufacturing 300 is finished, the manufactured product is removed fromthe manufacturing region 190 (or system 100 moves to a differentproduction region) and the product is completed 195 (e.g., is addedcomponents, finished, assembled, etc.) and tested.

FIG. 2 is a high level schematic illustration of system 100 additivelymanufacturing a cylindrical part, according to some embodiments of theinvention. FIG. 2 schematically illustrates substrate 80 as anadditively-manufactured cylindrical part such as container, possiblypositioned on a turntable (associated with positioning unit 130 andcontrolled by control unit 140) and being produced by additivemanufacturing via tip 110 receiving material from feeder 150 andpositioned by positioning unit 300. Control unit 140 is not shown, yetmay comprise remote user interface (e.g., via a cloud service,communication link, etc.), a design module and corresponding monitoringand control software. The cylindrical part may be manufacturedsimultaneously by multiple tip(s) 110.

FIGS. 3A and 3B are high level schematic illustrations of tips 110 andpositioning unit 130 of system 100, according to some embodiments of theinvention. In the illustrated non-limiting design, positioning unit 130may comprise motor(s) 131 configured to position tip 110 correctly, acavity 112 through which material 91 is fed and a plunger as an aperturecontrol member 111 configured to modify the size and possibly form of anaperture 110A in tip 110. Plunger 111 is possibly controlled by one ofmotor(s) 131. Heating the surface of material 91 may be carried out viaaperture control member 111 (such as the plunger) and/or via cavity 112.One or more tip 110 may be used to deposit material on substrate 80 inany direction, e.g., on horizontal or vertical surfaces of substrate 80.The deposited material may comprise attached broad strands 90 and/orstripes 180 composed from thin strands 90 attached to each other in tip110.

FIGS. 4A and 4B are high level schematic illustrations of tips 110 ofsystem 100, according to some embodiments of the invention. In FIG. 4A,aperture control member 111 is illustrated as a rotary unit with achannel of variable opening. Upon rotation of rotary unit 111, the sizeand form of aperture 110A in tip 110 changes to modify the extrudedmaterial. In FIG. 4B, aperture control member 111 is illustrated as arotatable rod having a varying profile that controls a number ofavailable apertures 110A in tip 110, which may receive strands 90.Heating the surface of material 91 may be carried out via aperturecontrol member 111 (such as the rotary unit or rotatable rod) and/or viacavity 112.

FIG. 5 is a high level schematic illustration of exemplary strandproduction module 160 and tip 110, according to some embodiments of theinvention. In the illustrated non-limiting embodiments, strandproduction module 160 may comprise a piston 162A pushing raw material 95such as pellets into a raw material container 162B. The raw material isthen melted by heater 162C and extruded by extruder 161 (e.g., a dosagepump driven by motor 131 through multiple holes) to provide solidstrands 90 to tip 110, in which the surfaces of strands 90 may beliquefied prior to their attachment. Aperture control member 111 may beconfigured similarly to the illustration in FIG. 4B to control thenumber of strands 95 provided to tip 110 and exiting aperture(s) 110A.

FIGS. 6A-6F are high level schematic illustrations of system 100 usingstrands 90 as added material 91, according to some embodiments of theinvention. FIG. 6A schematically illustrates feeder 150 receivingstrands 90 and directing them to tip 110 and comprises strand timingmodule 151 having a plurality of motors 131 and wheels 152 driven byrespective motors 131 and configured to move and control strands 90 fedto tip 110 (e.g., with respect to required manufacturing geometry).Sensors 142 may be configured to provide feedback on strand status(e.g., strand presence and type, velocity etc.). The separate control ofeach strand 90 provides precise control on the manufacturing process.FIG. 6B schematically illustrates attachment unit 135 comprising aguiding roller 135C, side rollers 135B and an attachment roller 135Cconfigured, respectively, to guide strands 90 towards tip 110, securethe lateral positions of strands 90 and possibly press strands 90against each other, and ensure adhesion and contact between strands 90and/or attached strands 180 and substrate 80. Positioning unit 130 mayfurther comprise a piston 135D for pressing tip 110 against substrate.Attachment of strands 90 to substrate 80 may comprise a relativemovement therebetween to enhance the uniformity of there-solidification. Heating element 120 may be positioned adjacent toattachment unit 135 to liquefy strand surfaces. Feeder 150 may compriseguides 153 configured to feed strands 90 at specified angles into tip110, either parallel or at specified angles which may be selected toprovide additional lateral pressure among strands 90 that may beselected to further enhance their attachment. Guides 153 may beconfigured to provide a selected spatial configuration of strands 90, asexemplified below. FIG. 6C schematically illustrates substrate 80 havingstrands 90 attached to each other to form stripe 180 which issimultaneously of consecutively attached as added material 185 tosubstrate 80. Either or both substrate 80 and tip 110 may be moved toprovide continuous addition of material 185. Re-solidification 125 isshown schematically, both for strands 90 attaching to each other and forstripe 180 to substrate 80.

FIGS. 6D and 6E are perspective bottom view and perspective top view,respectively, of feeder 150, strand timing module 151 and tip 110,according to some embodiments of the invention. Heater unit 120 isillustrated at the bottom of the device and may be configured to heatsubstrate 80, e.g. by hot air convection, and possibly also strands 90.FIG. 6F schematically illustrates tip 110 with heating element 120configured to liquefy the strand surfaces and optionally liquefy thesurface of substrate 80 to provide attachment and monolithicre-solidification of strands 90 to substrate 80. Strand and substrateheating may be carried out by a single heating element 120 or bymultiple heating elements 120.

FIGS. 7A-7F are high level schematic configurations of attached strandsat various spatial configurations 185A-F, according to some embodimentsof the invention. Individual strands are illustrated as being separatefor clarity of the explanation, although they are monolithicallyattached in the actual manufactured product or part. Any of the spatialconfigurations may comprise multiple steps of additive manufacturing ofstrands. FIG. 7A schematically illustrates a spatial configuration 185Aof strands 90 that yields a hanging, bench-like structure. Strands maybe added in sequential addition steps utilizing a varying number ofstrands attached to each other prior to deposition, to provide strengthin the horizontal direction. FIG. 7B schematically illustrates a spatialconfiguration 185B of strands 90 that yields a flange having adjustablefine scale characteristics that are determined according to the specificstrand feeding configuration. FIG. 7C schematically illustrates aspatial configuration 185C of strands 90 that yields a complex structurethat is nevertheless monolithically attached and has uniform mechanicalproperties across the structure. The disclosed system 100 and method 300provide the capability to modify and monitor a highly versatile spatialstrand configuration to yield many complex structures. FIG. 7Dschematically illustrates a spatial configuration 185D of strands 90that yields a partially hollow intermediate layer (185D-2, havingzigzag-attached strands) between an inner and an outer continuouslayers, 185D-1 and, respectively. Spatial configuration 185D may be usede.g., to reduce the weight of a produced cylindrical part (see FIG. 2)by intermediate layer 185D-2, while providing required properties of theinner and outer surfaces thereof. FIG. 7E schematically illustrates aspatial configuration 185E of strands 90 that yields an overhang thatprovide a dome-like structure without requiring any supports as intraditional 3D printing. The mechanical strength results from strands 90attached to each other prior to their deposition. FIG. 7F schematicallyillustrates a spatial configuration 185F of flattened strands 90/180that yields an overhang that provides a dome-like structure. Flattenedstrands 180 may be produced from attached thin strands or may bereceived in broad strand form as fed material 91.

FIGS. 8A-11 are high level schematic illustrations of various types ofstrands 90 and their attachment, according to some embodiments of theinvention. FIGS. 8A and 8B schematically illustrate strands 90A having acomplex H-like profile which complement each other upon attachingstrands 90A into stripe 180A, the respective protrusions and recesses inthe profile supporting the attachment by surface liquefaction. FIGS. 9Aand 9B schematically illustrate strands 90B having hexagonal profiles(that may be solid or hollow), which complement lower and upperdeposited strands 90B upon attachment into stripe 180B and ontosubstrate 80 (not shown). FIGS. 10A and 10B schematically illustratestrands 90C having hollow profiles (the outer periphery of the hollow ismaintained solid during attachment of strands 90C) providing stripe 180Cwith hollows that reduce their weight and may enable insertion of wiresinto the hollows. FIG. 11 schematically illustrates strands 90D havinground profiles which are attached to form stripe 180D having arectangular profile, achieved by the surface melting of strands 90D,possibly under application of some lateral pressure or guidance. Thecores of strands 90D are maintained solid during the attachment processto avoid thermal deformation.

Elements from FIGS. 1A and 1B as well as from FIGS. 2-11 may be combinedin any operable combination, and the illustration of certain elements incertain figures and not in others merely serves an explanatory purposeand is non-limiting.

FIG. 12 is a high level flowchart illustrating a method 300 of additivemanufacturing, according to some embodiments of the invention. Themethod stages may be carried out with respect to system 100 describedabove, which may optionally be configured to implement method 300.Method 300 may be partially implemented, with respect to the controlprocesses, by at least one computer processor. Certain embodimentscomprise computer program products comprising a computer readablestorage medium having computer readable program embodied therewith andconfigured to carry out of the relevant stages of method 300.

Method 300 comprises receiving, continuously, solid polymer material inform of at least one strand or a plurality of particles (stage 310),heating a surface of the continuously received solid polymer materialperipherally to liquefy the surface, using specified heating-relatedparameters which are selected to maintain a central volume of thecontinuously received solid polymer material in a solid state (stage340), optionally selecting heating-related parameters to maintain thecenter solid (stage 342). Method 300 further comprises liquefying asurface of a polymer substrate (stage 350), maintaining the bulk of thesubstrate solid (stage 352), and attaching the peripherally heatedsurface of the continuously received solid polymer material to theliquefied surface of the polymer substrate, wherein the attachment tothe polymer substrate is achieved by a re-solidification of theliquefied surface to yield monolithic attachment (stage 360). Substratecomprising a structure that was previously produced by method 300 may beused (stage 354). Receiving 310 may comprise receiving continuously, aplurality of solid material strands (stage 312) and attaching 360 maycomprise attaching the plurality of strands to each other, according toa spatial feeding configuration (stage 314), such as a lineararrangement of the strands next to each other (stage 320). Method 300may further comprise pressing the strands against each other to enhancethe attaching (stage 316). Method 300 may further comprise feeding thestrands at specified angles with respect to each other to enhance theattaching (stage 318). Method 300 may further comprise controllingfeeding parameters of each strand to be received (stage 322) to controlthe form of the manufactured product and to control the heating periodof the strands. Alternatively or complementarily, attaching 360 maycomprise attaching the strands to each other and, simultaneously,attaching the strands to the substrate (stage 366). Alternatively orcomplementarily, method 300 may comprise using polymer particles as thesolid polymer material (stage 330).

Method 300 may further comprise continuously producing the strands to bereceived (stage 324), e.g., by extrusion. Method 300 may furthercomprise adjusting a cross section of the produced strands according tospecified attachment and structural requirements (stage 326) andpossibly using hollow strand(s), strands of different solid materials,reinforced strand(s) and strand(s) with additive(s) (stage 328).

Method 300 may further comprise carrying out attaching 360 with respectto the substrate according to a specified product design (stage 362). Incertain embodiments, method 300 may further comprise pressing theperipherally heated surface of the continuously received solid materialagainst the liquefied surface of the substrate (stage 364).

Method 300 may further comprise optimizing the specified heating-relatedparameters such as the choice of heat source, adjustment of the heatingtemperature, the heating duration and the feeding velocity of the solidmaterial (stage 344) and optionally modifying the specifiedheating-related parameters to determine and control a depth of surfaceliquefaction with respect to a geometry of the substrate, whilemaintaining the central volume in a solid state (stage 346). Method 300may further comprise continuously controlling a manufacturing processaccording to method 300 and/or monitoring the attaching in closed loopto control a quality of a manufactured product (stage 372) andoptionally modifying the specified heating-related parameters on-the-flyaccording to the monitored attachment, manufacturing process andcontrolled quality (stage 374). Method 300 may further comprisemodifying the attaching location (e.g., according to the closed-loopmonitoring) to compensate for geometry deviation from a desiredparameter such as position, volume, tolerance etc. (stage 376).

FIG. 13A is a high level schematic illustration of an additivemanufacturing system 400 comprising a printing head 410 and a routinghead 420, according to some embodiments of the invention.

System 400 may comprise a printing head 410 and a routing head 420coupled to a positioning unit 440. In various embodiments, positioningunit 440 is identical to positioning units 130 as described above withrespect to FIGS. 1-6.

FIG. 13B is a high level schematic illustration of a printing head 410of an additive manufacturing system 400, according to some embodimentsof the invention.

Printing head 410 may be configured to perform polymer additivemanufacturing (e.g., as described above with respect to FIGS. 1-13).Printing head 410 may comprise a tip 412 that may be identical to tips110 as described above with respect to FIGS. 2-6. Printing head 410 maycomprise feeder(s), heating element(s), cutting unit(s) and/orattachment unit(s) that may be identical to feeder(s) 150, heatingelement(s) 120, cutting unit(s) 170 and attachment unit(s) 135,respectively, as described above with respect to FIGS. 2-6.

FIG. 13C is a high level schematic illustration of a routing head 420 ofan additive manufacturing system 400, according to some embodiments ofthe invention.

Routing head 420 may be configured to perform on-line processing (e.g.,drilling, routing, etc.) of the material (e.g., strands 90 and/orstripes 180, as described above with respect to FIGS. 1-11). In variousembodiments, routing head 420 is configured to operate simultaneouslyand/or in a sequence with operation printing head 410. Routing head 420may comprise a holder 422 configured to receive and hold a processingtool 424. In various embodiments, processing tool 424 comprises aspindle, a drill head, a tapping head, a knife head and/or an ironinghead.

Routing head 420 may comprise rotary axes 426 (e.g., hinges), forexample, a first rotary axis 426 a and/or a second rotary axis 426 b.Rotary axes 426 may be configured to enable orientation and/orpositioning of processing tool 424 at a predetermined orientation and/orposition with respect to processes material (e.g., strands 90 and/orstripes 180). In some embodiments, a robotic unit (not shown) may beused to position and/or orient processing tool 424.

FIG. 13D is a high level schematic illustration of a hybrid head 430 ofan additive manufacturing system 400, according to some embodiments ofthe invention.

Hybrid head 430 may comprise printing head 410 that may comprise, forexample tip 412, feeder(s), heating element(s), cutting unit(s) and/orattachment unit(s) (e.g., as described above with respect to FIG. 13B)and routing head 420 that may comprise, for example, holder 422,processing tool 424 and/or rotary axes 426 (e.g., as described abovewith respect to FIG. 13C).

In various embodiments, printing head 410 and/or routing head 420 aredetachably coupled to hybrid head 430. For example, at least one ofprinting head 410 and/or routing head 420 may be detached from hybridhead 430. In various embodiments, orientation and/or position ofprocessing tool 424 (e.g., spindle) of routing head 420 is adjusted withrespect to printing head 410 using, for example, rotary axes (e.g.,hinges) 426.

Referring back to FIGS. 13A-13D, printing head 410 and routing head 420may be configured to operate in a sequence with respect to each other.In some embodiments, printing (e.g., addition of material by tip 412 ofprinting head 410) is performed prior to processing (e.g., routing) ofthe material. In some embodiments, processing of the material (e.g.,routing) by routing head 420 is performed prior to printing (e.g.,addition of material) by printing head 410 to, for example, prepare thematerial for printing.

In various embodiments, printing head 410 and routing head 420 may beconfigured to operate simultaneously to, for example, complement and/orcorrect each other. For example, routing head 420 may remove accessmaterial while printing head 420 may add material to cover milled areas.In another example, printing head 410 may attach additional layers thatmay obstruct access to desired areas of substrate 80, while routing head420 may drill and/or route substrate 80 to enable the access to thedesired areas.

In various embodiments, printing head 410 and routing head 420 aremounted on same and/or separate motion axes. In various embodiments,printing head 410 is mounted on a first positioning unit (e.g.,positioning unit 440) and routing head 420 is mounted on a secondpositioning unit (e.g., positioning unit 440), where the first and thesecond positioning units may be configured to operate simultaneouslyand/or in a sequence with respect to each other.

Aspects of the present invention are described above with reference toflowchart illustrations and/or portion diagrams of methods, apparatus(systems) and computer program products according to embodiments of theinvention. It will be understood that each portion of the flowchartillustrations and/or portion diagrams, and combinations of portions inthe flowchart illustrations and/or portion diagrams, can be implementedby computer program instructions. These computer program instructionsmay be provided to a processor of a general purpose computer, specialpurpose computer, or other programmable data processing apparatus toproduce a machine, such that the instructions, which execute via theprocessor of the computer or other programmable data processingapparatus, create means for implementing the functions/acts specified inthe flowchart and/or portion diagram portion or portions.

These computer program instructions may also be stored in a computerreadable medium that can direct a computer, other programmable dataprocessing apparatus, or other devices to function in a particularmanner, such that the instructions stored in the computer readablemedium produce an article of manufacture including instructions whichimplement the function/act specified in the flowchart and/or portiondiagram portion or portions.

The computer program instructions may also be loaded onto a computer,other programmable data processing apparatus, or other devices to causea series of operational steps to be performed on the computer, otherprogrammable apparatus or other devices to produce a computerimplemented process such that the instructions which execute on thecomputer or other programmable apparatus provide processes forimplementing the functions/acts specified in the flowchart and/orportion diagram portion or portions.

The aforementioned flowchart and diagrams illustrate the architecture,functionality, and operation of possible implementations of systems,methods and computer program products according to various embodimentsof the present invention. In this regard, each portion in the flowchartor portion diagrams may represent a module, segment, or portion of code,which comprises one or more executable instructions for implementing thespecified logical function(s). It should also be noted that, in somealternative implementations, the functions noted in the portion mayoccur out of the order noted in the figures. For example, two portionsshown in succession may, in fact, be executed substantiallyconcurrently, or the portions may sometimes be executed in the reverseorder, depending upon the functionality involved. It will also be notedthat each portion of the portion diagrams and/or flowchart illustration,and combinations of portions in the portion diagrams and/or flowchartillustration, can be implemented by special purpose hardware-basedsystems that perform the specified functions or acts, or combinations ofspecial purpose hardware and computer instructions.

In the above description, an embodiment is an example or implementationof the invention. The various appearances of “one embodiment”, “anembodiment”, “certain embodiments” or “some embodiments” do notnecessarily all refer to the same embodiments. Although various featuresof the invention may be described in the context of a single embodiment,the features may also be provided separately or in any suitablecombination. Conversely, although the invention may be described hereinin the context of separate embodiments for clarity, the invention mayalso be implemented in a single embodiment. Certain embodiments of theinvention may include features from different embodiments disclosedabove, and certain embodiments may incorporate elements from otherembodiments disclosed above. The disclosure of elements of the inventionin the context of a specific embodiment is not to be taken as limitingtheir use in the specific embodiment alone. Furthermore, it is to beunderstood that the invention can be carried out or practiced in variousways and that the invention can be implemented in certain embodimentsother than the ones outlined in the description above.

The invention is not limited to those diagrams or to the correspondingdescriptions. For example, flow need not move through each illustratedbox or state, or in exactly the same order as illustrated and described.Meanings of technical and scientific terms used herein are to becommonly understood as by one of ordinary skill in the art to which theinvention belongs, unless otherwise defined. While the invention hasbeen described with respect to a limited number of embodiments, theseshould not be construed as limitations on the scope of the invention,but rather as exemplifications of some of the preferred embodiments.Other possible variations, modifications, and applications are alsowithin the scope of the invention. Accordingly, the scope of theinvention should not be limited by what has thus far been described, butby the appended claims and their legal equivalents.

1. An additive manufacturing system comprising: at least one feederconfigured to feed, continuously, at least two solid polymer strands, atleast one heating element, configured to simultaneously heat at least apart of adjacent surfaces of the at least two solid polymer strands, anattachment unit configured to simultaneously attach the liquifiedsurfaces to yield attached strands; and a pressing unit configured topress the at least two solid polymer strands against each other toensure attachment.
 2. The additive manufacturing system of claim 1,further comprising at least one tip configured to receive, continuously,the at least two solid polymer strands from the at least one feeder. 3.The additive manufacturing system of claim 2, further comprising: apositioning unit configured to position the at least one tip accordingto a specified product design, and a routing head coupled to thepositioning unit and configured to perform on-line processing of theattached at least two solid polymer strands.
 4. The additivemanufacturing system of claim 1, wherein the at least one heatingelement is selected from, a convective heater, a radiative heater, aninductive heater, and a laser heater.
 5. The additive manufacturingsystem of claim 1, wherein the attachment unit comprises a guidingroller.
 6. The additive manufacturing system of claim 1, wherein thepressing unit comprises at least one of, side rollers, and an attachmentroller.
 7. The additive manufacturing system of claim 1, furthercomprising a cutting unit configured to cut the at least two solidpolymer strands.
 8. The additive manufacturing system of claim 1,further comprising a control module configured to modify the operationalparameters of at least one of: the at least one feeder, the at least oneheating unit, the attachment unit and the pressing unit.
 9. The additivemanufacturing system of claim 8, wherein modifying the operationalparameters is based on measurements received from one or more sensorsincluded in the control module.
 10. The additive manufacturing system ofclaim 9, wherein the one or more sensors are selected from, laserscanners, cameras, IR sensors, inductive and capacitance sensors,acoustic sensors, and temperature sensors.
 11. The additivemanufacturing system of claim 1, wherein the at least one heatingelement is further configured to simultaneously heat at least a part ofadjacent surfaces of the pressed at least two solid polymer strands anda substrate to which the pressed at least two solid polymer strands isto be attached.
 12. An additive manufacturing system comprising: atleast one feeder configured to feed, continuously, at least one solidpolymer strand, at least one heating element, configured tosimultaneously heat at least a part of adjacent surfaces of the at leastone solid polymer strand and at least one additional solid polymerstrand, an attachment unit configured to simultaneously attach the atleast one solid polymer strand with the liquified surfaces to yieldattached strands; and a press configured to press the at least one solidpolymer strand and the at least one additional solid polymer strandagainst each other to ensure attachment.
 13. The additive manufacturingsystem of claim 12, further comprising at least one tip configured toreceive, continuously, the at least one solid polymer strand from thefeeder,
 14. The additive manufacturing system of claim 12, wherein theat least one feeder is configured to feed also the at least oneadditional solid polymer strand, previously to feeding the at least onesolid polymer strand.
 15. The additive manufacturing system of claim 11,wherein the at least one heating element is further configured tosimultaneously heat at least a part of adjacent surfaces of the at leastone solid polymer strand and a substrate to which the at least one solidpolymer strand is to be attached.
 16. The additive manufacturing systemof claim 12, wherein the at least one heating element is selected from,a convective heater, a radiative heater, an inductive heater, and alaser heater.
 17. The additive manufacturing system of claim 12, whereinthe attachment unit comprises a guiding roller.
 18. The additivemanufacturing system of claim 12, wherein the pressing unit comprises atleast one of, side rollers, and an attachment roller.
 19. The additivemanufacturing system of claim 12, further comprising a cutting unitconfigured to cut the at least one solid polymer strand.
 20. Theadditive manufacturing system of claim 12, further comprising a controlmodule configured to modify the operational parameters of at least oneof: the at least on feeder, the at least one heating unit, theattachment unit and the pressing unit.
 21. The additive manufacturingsystem of claim 20, wherein modifying the operational parameters isbased on measurements received from one or more sensors included in thecontrol module.